int Mower::readSensor(char type){
switch (type) {
// motors------------------------------------------------------------------------------------------------
case SEN_MOTOR_MOW: return ADCMan.read(pinMotorMowSense); break;
case SEN_MOTOR_RIGHT: /*checkMotorFault();*/ return ADCMan.read(pinMotorRightSense); break;
case SEN_MOTOR_LEFT: /*checkMotorFault();*/ return ADCMan.read(pinMotorLeftSense); break;
//case SEN_MOTOR_MOW_RPM: break; // not used - rpm is upated via interrupt
// perimeter----------------------------------------------------------------------------------------------
case SEN_PERIM_LEFT: return perimeter.getMagnitude(0); break;
//case SEN_PERIM_RIGHT: return Perimeter.getMagnitude(1); break;
// battery------------------------------------------------------------------------------------------------
case SEN_BAT_VOLTAGE: ADCMan.read(pinVoltageMeasurement); return ADCMan.read(pinBatteryVoltage); break;
case SEN_CHG_VOLTAGE: /*return ADCMan.read(pinChargeVoltage);*/ break;
//case SEN_CHG_VOLTAGE: return((int)(((double)analogRead(pinChargeVoltage)) * batFactor)); break;
case SEN_CHG_CURRENT: return ADCMan.read(pinChargeCurrent); break;
// buttons------------------------------------------------------------------------------------------------
case SEN_BUTTON: return(digitalRead(pinButton)); break;
//bumper----------------------------------------------------------------------------------------------------
case SEN_BUMPER_RIGHT: return(digitalRead(pinBumperRight)); break;
case SEN_BUMPER_LEFT: return(digitalRead(pinBumperLeft)); break;
//drop----------------------------------------------------------------------------------------------------
case SEN_DROP_RIGHT: return(digitalRead(pinDropRight)); break; // Dropsensor - Absturzsensor
case SEN_DROP_LEFT: return(digitalRead(pinDropLeft)); break; // Dropsensor - Absturzsensor
// sonar---------------------------------------------------------------------------------------------------
//case SEN_SONAR_CENTER: return(readURM37(pinSonarCenterTrigger, pinSonarCenterEcho)); break;
case SEN_SONAR_CENTER: return(readHCSR04(pinSonarCenterTrigger, pinSonarCenterEcho)); break;
case SEN_SONAR_LEFT: return(readHCSR04(pinSonarLeftTrigger, pinSonarLeftEcho)); break;
case SEN_SONAR_RIGHT: return(readHCSR04(pinSonarRightTrigger, pinSonarRightEcho)); break;
// case SEN_LAWN_FRONT: return(measureLawnCapacity(pinLawnFrontSend, pinLawnFrontRecv)); break;
//case SEN_LAWN_BACK: return(measureLawnCapacity(pinLawnBackSend, pinLawnBackRecv)); break;
// imu-------------------------------------------------------------------------------------------------------
//case SEN_IMU: imuYaw=imu.ypr.yaw; imuPitch=imu.ypr.pitch; imuRoll=imu.ypr.roll; break;
// rtc--------------------------------------------------------------------------------------------------------
case SEN_RTC:
//if (!readDS1307(datetime)) {
// Console.println("RTC data error!");
//addErrorCounter(ERR_RTC_DATA);
//setNextState(STATE_ERROR, 0);
//}
break;
// rain--------------------------------------------------------------------------------------------------------
case SEN_RAIN: if (digitalRead(pinRain)==LOW) return 1; break;
}
return 0;
}
// call this in main loop
void SonarControl::run(){
if (millis() < nextSonarTime) return;
nextSonarTime = millis() + 1000;
if (sonarRightUse) sonarDistRight = readHCSR04(pinSonarRightTrigger, pinSonarRightEcho);
if (sonarLeftUse) sonarDistLeft = readHCSR04(pinSonarLeftTrigger, pinSonarLeftEcho);
if (sonarCenterUse) sonarDistCenter = readHCSR04(pinSonarCenterTrigger, pinSonarCenterEcho);
if ((sonarDistCenter != NO_ECHO) && (sonarDistCenter < sonarTriggerBelow))
sonarDistCounter++;
if ((sonarDistRight != NO_ECHO) && (sonarDistRight < sonarTriggerBelow))
sonarDistCounter++;
if ((sonarDistLeft != NO_ECHO) && (sonarDistLeft < sonarTriggerBelow))
sonarDistCounter++;
}
